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<pre><span class="sourceLineNo">001</span>package edu.wpi.first.wpilibj.templates.commands;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span>import edu.wpi.first.wpilibj.command.Command;<a name="line.3"></a>
<span class="sourceLineNo">004</span>import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;<a name="line.4"></a>
<span class="sourceLineNo">005</span>import edu.wpi.first.wpilibj.templates.OI;<a name="line.5"></a>
<span class="sourceLineNo">006</span>import edu.wpi.first.wpilibj.templates.subsystems.Driver;<a name="line.6"></a>
<span class="sourceLineNo">007</span>import edu.wpi.first.wpilibj.templates.subsystems.Dropper;<a name="line.7"></a>
<span class="sourceLineNo">008</span>import edu.wpi.first.wpilibj.templates.subsystems.Lifter;<a name="line.8"></a>
<span class="sourceLineNo">009</span><a name="line.9"></a>
<span class="sourceLineNo">010</span>/**<a name="line.10"></a>
<span class="sourceLineNo">011</span> * The base for all commands. All atomic commands should subclass CommandBase.<a name="line.11"></a>
<span class="sourceLineNo">012</span> * CommandBase stores creates and stores each control system. To access a<a name="line.12"></a>
<span class="sourceLineNo">013</span> * subsystem elsewhere in your code in your code use CommandBase.exampleSubsystem<a name="line.13"></a>
<span class="sourceLineNo">014</span> * @author Author<a name="line.14"></a>
<span class="sourceLineNo">015</span> */<a name="line.15"></a>
<span class="sourceLineNo">016</span>public abstract class CommandBase extends Command {<a name="line.16"></a>
<span class="sourceLineNo">017</span><a name="line.17"></a>
<span class="sourceLineNo">018</span>    public static OI oi;<a name="line.18"></a>
<span class="sourceLineNo">019</span>    <a name="line.19"></a>
<span class="sourceLineNo">020</span>    // Create a single static instance of all of your subsystems<a name="line.20"></a>
<span class="sourceLineNo">021</span>    public static Driver driver;<a name="line.21"></a>
<span class="sourceLineNo">022</span>    public static Lifter lifter;<a name="line.22"></a>
<span class="sourceLineNo">023</span>    public static Dropper dropper;<a name="line.23"></a>
<span class="sourceLineNo">024</span>   <a name="line.24"></a>
<span class="sourceLineNo">025</span>    <a name="line.25"></a>
<span class="sourceLineNo">026</span>    public static void init() {<a name="line.26"></a>
<span class="sourceLineNo">027</span>        // This MUST be here. If the OI creates Commands (which it very likely<a name="line.27"></a>
<span class="sourceLineNo">028</span>        // will), constructing it during the construction of CommandBase (from<a name="line.28"></a>
<span class="sourceLineNo">029</span>        // which commands extend), subsystems are not guaranteed to be<a name="line.29"></a>
<span class="sourceLineNo">030</span>        // yet. Thus, their requires() statements may grab null pointers. Bad<a name="line.30"></a>
<span class="sourceLineNo">031</span>        // news. Don't move it.<a name="line.31"></a>
<span class="sourceLineNo">032</span>        oi = new OI();<a name="line.32"></a>
<span class="sourceLineNo">033</span>        lifter = new Lifter();<a name="line.33"></a>
<span class="sourceLineNo">034</span>        driver = new Driver();<a name="line.34"></a>
<span class="sourceLineNo">035</span>        dropper = new Dropper();<a name="line.35"></a>
<span class="sourceLineNo">036</span>        // Show what command your subsystem is running on the SmartDashboard<a name="line.36"></a>
<span class="sourceLineNo">037</span>        //SmartDashboard.putData(exampleSubsystem);<a name="line.37"></a>
<span class="sourceLineNo">038</span>    }<a name="line.38"></a>
<span class="sourceLineNo">039</span><a name="line.39"></a>
<span class="sourceLineNo">040</span>    public CommandBase(String name) {<a name="line.40"></a>
<span class="sourceLineNo">041</span>        super(name);<a name="line.41"></a>
<span class="sourceLineNo">042</span>    }<a name="line.42"></a>
<span class="sourceLineNo">043</span><a name="line.43"></a>
<span class="sourceLineNo">044</span>    public CommandBase() {<a name="line.44"></a>
<span class="sourceLineNo">045</span>        super();<a name="line.45"></a>
<span class="sourceLineNo">046</span>    }<a name="line.46"></a>
<span class="sourceLineNo">047</span>}<a name="line.47"></a>




























































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